From e4d02a8cb2878ddcc46b47159e8688fae56daf35 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Thu, 13 Feb 2020 15:26:37 +0000 Subject: [PATCH] Update --- main.py | 44 ++++++++++++++++++++++---------------------- 1 file changed, 22 insertions(+), 22 deletions(-) diff --git a/main.py b/main.py index e6cda72..21a2d6c 100755 --- a/main.py +++ b/main.py @@ -247,12 +247,12 @@ if __name__ == "__main__": right_pose.orientation.z = -0.000 right_pose.orientation.w = 0.004 - # left_pnp = PickAndPlace('left', hover_distance) - # right_pnp = PickAndPlace('right', hover_distance) + left_pnp = PickAndPlace('left', hover_distance) + right_pnp = PickAndPlace('right', hover_distance) - # # Go to initial position - # left_pnp.move_to_start(left_pnp.ik_request(left_pose)) - # right_pnp.move_to_start(right_pnp.ik_request(right_pose)) + # Go to initial position + left_pnp.move_to_start(left_pnp.ik_request(left_pose)) + right_pnp.move_to_start(right_pnp.ik_request(right_pose)) load_objects() @@ -260,26 +260,26 @@ if __name__ == "__main__": tf_service(init=True) ###################################HACKING BEGIN - for i in range(0, 5): - print() - otc.tf_lookup('a3') - print() - print() - print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!") - for i in range(0, 5): - print() - otc.tf_lookup('f2') - print() - print() + # for i in range(0, 5): + # print() + # otc.tf_lookup('a3') + # print() + # print() + # print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!") + # for i in range(0, 5): + # print() + # otc.tf_lookup('f2') + # print() + # print() - # left_pick = otc.tf_lookup('a1') - # left_pick.position.z+=0.05 - # left_pnp.pick(left_pick) + left_pick = otc.tf_lookup('a1') + left_pick.position.z+=0.05 + left_pnp.pick(left_pick) - # left_place = otc.tf_lookup('f2') - # left_place.position.z+=0.05 - # left_pnp.place(left_place) + left_place = otc.tf_lookup('f2') + left_place.position.z+=0.05 + left_pnp.place(left_place)